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Enhanced Center Constraint Weighted A* Algorithm for Path Planning of Petrochemical Inspection Robot

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Abstract

In many practical applications of robot path planning, finding the shortest path is critical, while the response time is often overlooked but important. To address the problems of search node divergence and long calculation time in the A* routing algorithm in the large scenario, this paper presents a novel center constraint weighted A* algorithm (CCWA*). The heuristic function is modified to give different dynamic weights to nodes in different positions, and the node weights are changed in the specified direction during the expansion process, thereby reducing the number of search nodes. An adaptive threshold is further added to the heuristic function to enhance the adaptiveness of the algorithm. To verify the effectiveness of the CCWA* algorithm, simulations are performed on 2-dimensional grid maps of different sizes. The results show that the proposed algorithm speeds up the search process and reduces the planning time in the process of path planning in a multi-obstacle environment compared with the conventional A* algorithm and weighted A* algorithm.

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Funding

This work was supported in part by the Open Fund of the State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation under Grant PLN2020-10, in part by the Sichuan Science and Technology Department Application Foundation Project under Grant 2019YJ0311, in part by the State Administration of National Security Project under Grant Sichuan-0006-2018AQ, in part by the Open Fund of the Key Laboratory of Oil and Gas Equipment, Ministry of Education under Grant OGE201702-06.

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Authors and Affiliations

  1. State Key Laboratory of Oil and Gas Reservoir Geology and Exploitation, School of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu, 610500, China

    Xin Lai

  2. School of Mechanical and Electrical Engineering, Southwest Petroleum University, Chengdu, 610500, China

    JiaHe Li

  3. School of Engineering, University of Leicester, Leicester, LE1 7RH, UK

    Jonathon Chambers

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  1. Xin Lai
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  2. JiaHe Li
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Xin Lai is responsible for overall design, programming and writing, Jiahe Li is responsible for programming and writing, and Jonathon Chambers is responsible for overall guidance and proofreading.

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Correspondence to Xin Lai.

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Lai, X., Li, J. & Chambers, J. Enhanced Center Constraint Weighted A* Algorithm for Path Planning of Petrochemical Inspection Robot. J Intell Robot Syst 102, 78 (2021). https://doi.org/10.1007/s10846-021-01437-8

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